Servo control system and robot

Abstract

The present invention discloses a servo control system and a servo. A servo control system includes a main control module; and a communication module including a first communication interface, a second communication interface and a control switch unit. First communication terminal and second communication terminal of the control switch unit are correspondingly coupled to the first communication interface and the second communication interface. First enabling port and second enabling port of the control switch unit are correspondingly coupled to two enabling terminals of the main control module. The main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level. In the above manner, the present invention can assign an identification number to a servo during initialization of the servo, avoiding the installing inconvenience caused by that servo identification numbers are fixed.

What is claimed is: 
     
       1. A servo control system, applied to a servo, characterized in that the servo control system comprises:
 a main control module, comprising two enabling terminals; and 
 a communication module, comprising a first communication interface, a second communication interface and a control switch unit, the control switch unit comprising a first communication terminal, a second communication terminal, a first enabling port, and a second enabling port, the first communication terminal and the second communication terminal being correspondingly coupled to the first communication interface and the second communication interface, and the first enabling port and the second enabling port being correspondingly coupled to the two enabling terminals of the main control module; wherein: 
 the main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level coupled to the servo, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level coupled to the servo. 
 
     
     
       2. The servo control system according to  claim 1 , characterized in that the first communication interface and the second communication interface both are level detection ports, the main control module outputs a first enabling signal to the first enabling port when detecting that the first communication interface is at high level, the control switch unit communicates with the servo of upper level via the first communication interface and transmits corresponding identification number or identification number together with action instruction information to the main control module; and
 the main control module outputs a second enabling signal to the second enabling port when detecting that the second communication interface is at high level, and the control switch unit communicates with the servo of lower level via the second communication interface and transmits corresponding identification number or identification number together with action instruction information to the servo of lower level. 
 
     
     
       3. The servo control system according to  claim 1 , characterized in that the servo control system further comprises a power supply module and a charge detection module coupled to the main control module, the power supply module is configured to provide a power supply for the servo, and the charge detection module is configured to collect a charge of a battery inside the servo. 
     
     
       4. The servo control system according to  claim 1 , characterized in that the servo control system further comprises an angle collection module coupled to the main control module, the angle collection module is configured to acquire information of rotation angle of the servo, and the main control module is further configured to control motion of the servo according to the information of angle. 
     
     
       5. The servo control system according to  claim 4 , characterized in that the servo control system further comprises a driving module coupled to the main control module, the driving module is configured to receive a control signal transmitted from the main control module and output a driving pulse signal according to the control signal to drive an electric motor arranged in the servo to rotate. 
     
     
       6. The servo control system according to  claim 5 , characterized in that the control signal comprises an angle control signal, a speed control signal and an enabling signal. 
     
     
       7. The servo control system according to  claim 5 , characterized in that the servo control system further comprises at least one filter circuit, the at least one filter circuit is coupled between the driving module and the electric motor, and configured to perform a filtering process to the driving pulse signal. 
     
     
       8. The servo control system according to  claim 5 , characterized in that the driving module is further configured to detect a current operating current of the electric motor and feedback the current operating current of the electric motor to the main control module, causing the main control module to adjust a waveform of the driving pulse signal according to the current operating current of the electric motor. 
     
     
       9. The servo control system according to  claim 1 , characterized in that the servo control system further comprises a temperature collection module coupled to the main control module, the temperature collection module is configured to collect a temperature of the electric motor, if the collected temperature of the electric motor is greater than a preset threshold value, the main control module controls the electric motor to stop rotating, or reduces a rotation speed of the electric motor. 
     
     
       10. A robot, characterized in that the robot comprises a central processor, a plurality of servos of first level coupled to the central processor, and servos of other levels coupled to the servos of first level in sequence, each of the servos comprising a servo control system, the servo control system comprising:
 a main control module, comprising two enabling terminals; and 
 a communication module, comprising a first communication interface, a second communication interface and a control switch unit, the control switch unit comprising a first communication terminal, a second communication terminal, a first enabling port, and a second enabling port, the first communication terminal and the second communication terminal being correspondingly coupled to the first communication interface and the second communication interface, and the first enabling port and the second enabling port being correspondingly coupled to the two enabling terminals of the main control module; wherein: 
 the main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level coupled to the servo, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level coupled to the servo. 
 
     
     
       11. The robot according to  claim 10 , characterized in that the first communication interface and the second communication interface both are level detection ports, the main control module outputs a first enabling signal to the first enabling port when detecting that the first communication interface is at high level, the control switch unit communicates with the servo of upper level via the first communication interface and transmits corresponding identification number or identification number together with action instruction information to the main control module; and
 the main control module outputs a second enabling signal to the second enabling port when detecting that the second communication interface is at high level, and the control switch unit communicates with the servo of lower level via the second communication interface and transmits corresponding identification number or identification number together with action instruction information to the servo of lower level. 
 
     
     
       12. The robot according to  claim 10 , characterized in that the servo control system further comprises a power supply module and a charge detection module coupled to the main control module, the power supply module is configured to provide a power supply for the servo, and the charge detection module is configured to collect a charge of a battery inside the servo. 
     
     
       13. The robot according to  claim 10 , characterized in that the servo control system further comprises an angle collection module coupled to the main control module, the angle collection module is configured to acquire information of rotation angle of the servo, and the main control module is further configured to control motion of the servo according to the information of angle. 
     
     
       14. The robot according to  claim 13 , characterized in that the servo control system further comprises a driving module coupled to the main control module, the driving module is configured to receive a control signal transmitted from the main control module and output a driving pulse signal according to the control signal to drive an electric motor arranged in the servo to rotate. 
     
     
       15. The robot according to  claim 14 , characterized in that the control signal comprises an angle control signal, a speed control signal and an enabling signal. 
     
     
       16. The robot according to  claim 14 , characterized in that the servo control system further comprises at least one filter circuit, the at least one filter circuit is coupled between the driving module and the electric motor, and configured to perform a filtering process to the driving pulse signal. 
     
     
       17. The robot according to  claim 14 , characterized in that the driving module is further configured to detect a current operating current of the electric motor and feedback the current operating current of the electric motor to the main control module, causing the main control module to adjust a waveform of the driving pulse signal according to the current operating current of the electric motor. 
     
     
       18. The robot according to  claim 10 , characterized in that the servo control system further comprises a temperature collection module coupled to the main control module, the temperature collection module is configured to collect a temperature of the electric motor, if the collected temperature of the electric motor is greater than a preset threshold value, the main control module controls the electric motor to stop rotating, or reduces a rotation speed of the electric motor.